Go to the documentation of this file.00001 #ifndef _ROS_std_msgs_Float32MultiArray_h
00002 #define _ROS_std_msgs_Float32MultiArray_h
00003
00004 #include <stdint.h>
00005 #include <string.h>
00006 #include <stdlib.h>
00007 #include "ros/msg.h"
00008 #include "std_msgs/MultiArrayLayout.h"
00009
00010 namespace std_msgs
00011 {
00012
00013 class Float32MultiArray : public ros::Msg
00014 {
00015 public:
00016 std_msgs::MultiArrayLayout layout;
00017 uint8_t data_length;
00018 float st_data;
00019 float * data;
00020
00021 virtual int serialize(unsigned char *outbuffer) const
00022 {
00023 int offset = 0;
00024 offset += this->layout.serialize(outbuffer + offset);
00025 *(outbuffer + offset++) = data_length;
00026 *(outbuffer + offset++) = 0;
00027 *(outbuffer + offset++) = 0;
00028 *(outbuffer + offset++) = 0;
00029 for( uint8_t i = 0; i < data_length; i++){
00030 union {
00031 float real;
00032 uint32_t base;
00033 } u_datai;
00034 u_datai.real = this->data[i];
00035 *(outbuffer + offset + 0) = (u_datai.base >> (8 * 0)) & 0xFF;
00036 *(outbuffer + offset + 1) = (u_datai.base >> (8 * 1)) & 0xFF;
00037 *(outbuffer + offset + 2) = (u_datai.base >> (8 * 2)) & 0xFF;
00038 *(outbuffer + offset + 3) = (u_datai.base >> (8 * 3)) & 0xFF;
00039 offset += sizeof(this->data[i]);
00040 }
00041 return offset;
00042 }
00043
00044 virtual int deserialize(unsigned char *inbuffer)
00045 {
00046 int offset = 0;
00047 offset += this->layout.deserialize(inbuffer + offset);
00048 uint8_t data_lengthT = *(inbuffer + offset++);
00049 if(data_lengthT > data_length)
00050 this->data = (float*)realloc(this->data, data_lengthT * sizeof(float));
00051 offset += 3;
00052 data_length = data_lengthT;
00053 for( uint8_t i = 0; i < data_length; i++){
00054 union {
00055 float real;
00056 uint32_t base;
00057 } u_st_data;
00058 u_st_data.base = 0;
00059 u_st_data.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
00060 u_st_data.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
00061 u_st_data.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
00062 u_st_data.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
00063 this->st_data = u_st_data.real;
00064 offset += sizeof(this->st_data);
00065 memcpy( &(this->data[i]), &(this->st_data), sizeof(float));
00066 }
00067 return offset;
00068 }
00069
00070 const char * getType(){ return "std_msgs/Float32MultiArray"; };
00071 const char * getMD5(){ return "6a40e0ffa6a17a503ac3f8616991b1f6"; };
00072
00073 };
00074
00075 }
00076 #endif